Acta Mechanica Slovaca 2014, 18(3):68-73 | DOI: 10.21496/ams.2014.032

Educational Model of Four Legged Robot

Alexander Gmiterko, Michal Kelemen*, Ivan Virgala, Ľubica Miková
Technical University of Košice, Faculty of Mechanical Engineering, Letná 9, 042 00 Košice

The paper deals with four legged walking robot Youpy. The robot has been designed as educational model. It has 8 degree of freedom in legs. Control of locomotion is based on reposition of centre of gravity. Standard servomechanism is used as actuator, which is frequently used for radio controlled models. After the simulations realized on 3D model, the functional model has been constructed. Designed flowchart of the forward locomotion has been verified on functional model. Maximum velocity for forward locomotion is 25 cm/s. Next part of the paper deals with conception of the feedback control of legs motion.

Keywords: Robot, legged locomotion, sensor, mechatronics

Published: October 31, 2014  Show citation

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Gmiterko, A., Kelemen, M., Virgala, I., & Miková, Ľ. (2014). Educational Model of Four Legged Robot. Acta Mechanica Slovaca, 18(3-4), 68-73. doi: 10.21496/ams.2014.032
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